latest/px4fmu_8h_source.html

#ifndef CONFIG_PX4FMU_4_00_H

#define CONFIG_PX4FMU_4_00_H


#define BOARD_PX4FMU


#include "boards/px4fmu/chibios/v4.0/board.h"


/*

 * Concat macro

 */

#define _CONCAT_BOARD_PARAM(_s1, _s2) _s1 ## _s2

#define CONCAT_BOARD_PARAM(_s1, _s2) _CONCAT_BOARD_PARAM(_s1, _s2)


/*

 * Onboard LEDs

 */

/* red, on PE12 */

#ifndef USE_LED_1

#define USE_LED_1 1

#endif

#define LED_1_GPIO GPIOB

#define LED_1_GPIO_PIN GPIO11

#define LED_1_GPIO_ON gpio_clear

#define LED_1_GPIO_OFF gpio_set

#define LED_1_AFIO_REMAP ((void)0)


/* green, on PB1 */

#ifndef USE_LED_2

#define USE_LED_2 1

#endif

#define LED_2_GPIO GPIOB

#define LED_2_GPIO_PIN GPIO1

#define LED_2_GPIO_ON gpio_clear

#define LED_2_GPIO_OFF gpio_set

#define LED_2_AFIO_REMAP ((void)0)


/* blue, on PB3 */

#ifndef USE_LED_3

#define USE_LED_3 1

#endif

#define LED_3_GPIO GPIOB

#define LED_3_GPIO_PIN GPIO3

#define LED_3_GPIO_ON gpio_clear

#define LED_3_GPIO_OFF gpio_set

#define LED_3_AFIO_REMAP ((void)0)


/*

 * ADCs

 */

// VOLT_SENS

#ifndef USE_ADC_1

#define USE_ADC_1 1

#endif

#if USE_ADC_1

#define AD1_1_CHANNEL ADC_CHANNEL_IN2

#define ADC_1 AD1_1

#define ADC_1_GPIO_PORT GPIOA

#define ADC_1_GPIO_PIN GPIO2

#endif


// CUR_SENS

#ifndef USE_ADC_2

#define USE_ADC_2 2

#endif

#if USE_ADC_2

#define AD1_2_CHANNEL ADC_CHANNEL_IN3

#define ADC_2 AD1_2

#define ADC_2_GPIO_PORT GPIOA

#define ADC_2_GPIO_PIN GPIO3

#endif


// VDD_V5_SENS

#if USE_ADC_3

#define AD1_3_CHANNEL ADC_CHANNEL_IN4

#define ADC_3 AD1_3

#define ADC_3_GPIO_PORT GPIOA

#define ADC_3_GPIO_PIN GPIO4

#endif


/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/

#ifndef ADC_CHANNEL_VSUPPLY

#define ADC_CHANNEL_VSUPPLY ADC_1

#endif


/* allow to define ADC_CHANNEL_CURRENT in the airframe file*/

#ifndef ADC_CHANNEL_CURRENT

#define ADC_CHANNEL_CURRENT ADC_2

#endif


/* Default powerbrick values */

#define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f) * 10.27708149f * adc)

#define MilliAmpereOfAdc(adc) ((3.3f/4096.0f) * 36367.51556f * adc)


/*

 * PWM TIM defines

 * enable TIM1 and TIM4 by default

 */

#ifndef USE_PWM_TIM1

#define USE_PWM_TIM1 1

#endif


#ifndef USE_PWM_TIM4

#define USE_PWM_TIM4 1

#endif


/*

 * PWM defines

 */

#if defined(LINE_SERVO1)

#ifndef USE_PWM1

#define USE_PWM1 1

#endif

#if USE_PWM1

#define PWM_SERVO_1 0

#define PWM_SERVO_1_GPIO    PAL_PORT(LINE_SERVO1)

#define PWM_SERVO_1_PIN     PAL_PAD(LINE_SERVO1)

#define PWM_SERVO_1_AF      AF_LINE_SERVO1

#define PWM_SERVO_1_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO1_TIM)

#define PWM_SERVO_1_CHANNEL (SERVO1_TIM_CH-1)

#define PWM_SERVO_1_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO1_TIM)

#endif

#endif


#if defined(LINE_SERVO2)

#ifndef USE_PWM2

#define USE_PWM2 1

#endif

#if USE_PWM2

#define PWM_SERVO_2 1

#define PWM_SERVO_2_GPIO    PAL_PORT(LINE_SERVO2)

#define PWM_SERVO_2_PIN     PAL_PAD(LINE_SERVO2)

#define PWM_SERVO_2_AF      AF_LINE_SERVO2

#define PWM_SERVO_2_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO2_TIM)

#define PWM_SERVO_2_CHANNEL (SERVO2_TIM_CH-1)

#define PWM_SERVO_2_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO2_TIM)

#endif

#endif


#if defined(LINE_SERVO3)

#ifndef USE_PWM3

#define USE_PWM3 1

#endif

#if USE_PWM3

#define PWM_SERVO_3 2

#define PWM_SERVO_3_GPIO    PAL_PORT(LINE_SERVO3)

#define PWM_SERVO_3_PIN     PAL_PAD(LINE_SERVO3)

#define PWM_SERVO_3_AF      AF_LINE_SERVO3

#define PWM_SERVO_3_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO3_TIM)

#define PWM_SERVO_3_CHANNEL (SERVO3_TIM_CH-1)

#define PWM_SERVO_3_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO3_TIM)

#endif

#endif


#if defined(LINE_SERVO4)

#ifndef USE_PWM4

#define USE_PWM4 1

#endif

#if USE_PWM4

#define PWM_SERVO_4 3

#define PWM_SERVO_4_GPIO    PAL_PORT(LINE_SERVO4)

#define PWM_SERVO_4_PIN     PAL_PAD(LINE_SERVO4)

#define PWM_SERVO_4_AF      AF_LINE_SERVO4

#define PWM_SERVO_4_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO4_TIM)

#define PWM_SERVO_4_CHANNEL (SERVO4_TIM_CH-1)

#define PWM_SERVO_4_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO4_TIM)

#endif

#endif


#if defined(LINE_SERVO5)

#ifndef USE_PWM5

#define USE_PWM5 1

#endif

#if USE_PWM5

#define PWM_SERVO_5 4

#define PWM_SERVO_5_GPIO    PAL_PORT(LINE_SERVO5)

#define PWM_SERVO_5_PIN     PAL_PAD(LINE_SERVO5)

#define PWM_SERVO_5_AF      AF_LINE_SERVO5

#define PWM_SERVO_5_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO5_TIM)

#define PWM_SERVO_5_CHANNEL (SERVO5_TIM_CH-1)

#define PWM_SERVO_5_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO5_TIM)

#endif

#endif


#if defined(LINE_SERVO6)

#ifndef USE_PWM6

#define USE_PWM6 1

#endif

#if USE_PWM6

#define PWM_SERVO_6 5

#define PWM_SERVO_6_GPIO    PAL_PORT(LINE_SERVO6)

#define PWM_SERVO_6_PIN     PAL_PAD(LINE_SERVO6)

#define PWM_SERVO_6_AF      AF_LINE_SERVO6

#define PWM_SERVO_6_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO6_TIM)

#define PWM_SERVO_6_CHANNEL (SERVO6_TIM_CH-1)

#define PWM_SERVO_6_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO6_TIM)

#endif

#endif


#if defined(LINE_SERVO7)

#ifndef USE_PWM7

#define USE_PWM7 1

#endif

#if USE_PWM7

#define PWM_SERVO_7 6

#define PWM_SERVO_7_GPIO    PAL_PORT(LINE_SERVO7)

#define PWM_SERVO_7_PIN     PAL_PAD(LINE_SERVO7)

#define PWM_SERVO_7_AF      AF_LINE_SERVO7

#define PWM_SERVO_7_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO7_TIM)

#define PWM_SERVO_7_CHANNEL (SERVO7_TIM_CH-1)

#define PWM_SERVO_7_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO7_TIM)

#endif

#endif


#if defined(LINE_SERVO8)

#ifndef USE_PWM8

#define USE_PWM8 1

#endif

#if USE_PWM8

#define PWM_SERVO_8 7

#define PWM_SERVO_8_GPIO    PAL_PORT(LINE_SERVO8)

#define PWM_SERVO_8_PIN     PAL_PAD(LINE_SERVO8)

#define PWM_SERVO_8_AF      AF_LINE_SERVO8

#define PWM_SERVO_8_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO8_TIM)

#define PWM_SERVO_8_CHANNEL (SERVO8_TIM_CH-1)

#define PWM_SERVO_8_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO8_TIM)

#endif

#endif


#define UART1_GPIO_PORT_TX GPIOB

#define UART1_GPIO_TX GPIO6

#define UART1_GPIO_PORT_RX GPIOB

#define UART1_GPIO_RX GPIO7

#define UART1_GPIO_AF 7


#define UART2_GPIO_PORT_TX GPIOD

#define UART2_GPIO_TX GPIO5

#define UART2_GPIO_PORT_RX GPIOD

#define UART2_GPIO_RX GPIO6

#define UART2_GPIO_AF 7


#define UART3_GPIO_PORT_TX GPIOD

#define UART3_GPIO_TX GPIO8

#define UART3_GPIO_PORT_RX GPIOD

#define UART3_GPIO_RX GPIO9

#define UART3_GPIO_AF 7


#define UART4_GPIO_PORT_TX GPIOA

#define UART4_GPIO_TX GPIO0

#define UART4_GPIO_PORT_RX GPIOA

#define UART4_GPIO_RX GPIO1

#define UART4_GPIO_AF 8


#define UART6_GPIO_PORT_RX GPIOC

#define UART6_GPIO_RX GPIO7

#define UART6_GPIO_AF 8


#define UART7_GPIO_PORT_TX GPIOE

#define UART7_GPIO_TX GPIO8

#define UART7_GPIO_PORT_RX GPIOE

#define UART7_GPIO_RX GPIO7

#define UART7_GPIO_AF 8


#define UART8_GPIO_PORT_TX GPIOE

#define UART8_GPIO_TX GPIO1

#define UART8_GPIO_PORT_RX GPIOE

#define UART8_GPIO_RX GPIO0

#define UART8_GPIO_AF 8


/* Soft binding Spektrum */

#define RADIO_CONTROL_POWER_PORT GPIOE

#define RADIO_CONTROL_POWER_PIN GPIO4 //SPEKTRUM POWER

#define RADIO_CONTROL_POWER_ON gpio_clear // yes, inverted

#define RADIO_CONTROL_POWER_OFF gpio_set


//A receiver on powered on 3.3v

#define PERIPHERAL3V3_ENABLE_PORT GPIOC //VDD_3V3_PERIPHERAL_EN

#define PERIPHERAL3V3_ENABLE_PIN GPIO5

#define PERIPHERAL3V3_ENABLE_ON gpio_set

#define PERIPHERAL3V3_ENABLE_OFF gpio_clear


// /**

//  * PPM radio defines TODO

//  */

// #define RC_PPM_TICKS_PER_USEC 2

// #define PPM_TIMER_FREQUENCY 2000000

// #define PPM_CHANNEL ICU_CHANNEL_1

// #define PPM_TIMER ICUD1


// /*

//  * PWM input TODO

//  */

// // PWM_INPUT 1 on PA8 (also PPM IN)

// #define PWM_INPUT1_ICU            ICUD1

// #define PWM_INPUT1_CHANNEL        ICU_CHANNEL_1

// // PPM in (aka PA8) is used: not compatible with PPM RC receiver

// #define PWM_INPUT1_GPIO_PORT      GPIOA

// #define PWM_INPUT1_GPIO_PIN       GPIO8

// #define PWM_INPUT1_GPIO_AF        GPIO_AF1


#ifndef I2C1_CLOCK_SPEED

#define I2C1_CLOCK_SPEED 400000

#endif

#if I2C1_CLOCK_SPEED == 400000

#define I2C1_DUTY_CYCLE FAST_DUTY_CYCLE_2

#elif I2C1_CLOCK_SPEED == 100000

#define I2C1_DUTY_CYCLE STD_DUTY_CYCLE

#else

#error Invalid I2C1 clock speed

#endif


#define I2C1_CFG_DEF {        \

           OPMODE_I2C,        \

           I2C1_CLOCK_SPEED,  \

           I2C1_DUTY_CYCLE,   \

           }

#define I2C1_CFG_DEF {        \ …


#ifndef I2C2_CLOCK_SPEED

#define I2C2_CLOCK_SPEED 400000

#endif

#if I2C2_CLOCK_SPEED == 400000

#define I2C2_DUTY_CYCLE FAST_DUTY_CYCLE_2

#elif I2C2_CLOCK_SPEED == 100000

#define I2C2_DUTY_CYCLE STD_DUTY_CYCLE

#else

#error Invalid I2C2 clock speed

#endif


#define I2C2_CFG_DEF {        \

           OPMODE_I2C,        \

           I2C2_CLOCK_SPEED,  \

           I2C2_DUTY_CYCLE,   \

           }

#define I2C2_CFG_DEF {        \ …


#define SPI1_GPIO_AF GPIO_AF5

#define SPI1_GPIO_PORT_MISO GPIOA

#define SPI1_GPIO_MISO GPIO6

#define SPI1_GPIO_PORT_MOSI GPIOA

#define SPI1_GPIO_MOSI GPIO7

#define SPI1_GPIO_PORT_SCK GPIOA

#define SPI1_GPIO_SCK GPIO5


#define SPI2_GPIO_AF GPIO_AF5

#define SPI2_GPIO_PORT_MISO GPIOB

#define SPI2_GPIO_MISO GPIO14

#define SPI2_GPIO_PORT_MOSI GPIOB

#define SPI2_GPIO_MOSI GPIO15

#define SPI2_GPIO_PORT_SCK GPIOB

#define SPI2_GPIO_SCK GPIO10


/* SPI1_SLAVE1 -> slave select pin for the ICM 20609-G*/

#define SPI_SELECT_SLAVE0_PORT GPIOC

#define SPI_SELECT_SLAVE0_PIN GPIO15

/* SPI1_SLAVE1 -> slave select pin for the HMC5983 */

#define SPI_SELECT_SLAVE1_PORT GPIOE

#define SPI_SELECT_SLAVE1_PIN GPIO15

// SPI1_SLAVE2 -> slave select pin for the MPU9250

#define SPI_SELECT_SLAVE2_PORT GPIOC

#define SPI_SELECT_SLAVE2_PIN GPIO2

// SPI1_SLAVE3 -> slave select pin for the ms5611

#define SPI_SELECT_SLAVE3_PORT GPIOD

#define SPI_SELECT_SLAVE3_PIN GPIO7

// SPI1_SLAVE4 -> slave select pin for the FRAM

#define SPI_SELECT_SLAVE4_PORT GPIOD

#define SPI_SELECT_SLAVE4_PIN GPIO10


#ifndef USE_BARO_BOARD

#define USE_BARO_BOARD 1

#endif


#define SDIO_D0_PORT GPIOC

#define SDIO_D0_PIN GPIO8

#define SDIO_D1_PORT GPIOC

#define SDIO_D1_PIN GPIO9

#define SDIO_D2_PORT GPIOC

#define SDIO_D2_PIN GPIO10

#define SDIO_D3_PORT GPIOC

#define SDIO_D3_PIN GPIO11

#define SDIO_CK_PORT GPIOC

#define SDIO_CK_PIN GPIO12

#define SDIO_CMD_PORT GPIOD

#define SDIO_CMD_PIN GPIO2

#define SDIO_AF 12

// bat monitoring for file closing

#define SDLOG_BAT_ADC ADCD1

#define SDLOG_BAT_CHAN AD1_1_CHANNEL

// usb led status

#define SDLOG_USB_LED 3

#define SDLOG_USB_VBUS_PORT GPIOA

#define SDLOG_USB_VBUS_PIN GPIO9


/*

 * Actuators for fixedwing

 */

 /* Default actuators driver */

#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"

#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)

#define ActuatorsDefaultInit() ActuatorsPwmInit()

#define ActuatorsDefaultCommit() ActuatorsPwmCommit()


#endif /* CONFIG_PX4FMU_4_00_H */


board.h